version: 66.10
glider: 170
mission: 8
dive: 107
start: 5 10 112 4 19 54
data:
$ID,170
$MISSION,8
$DIVE,107
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51734
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,652.74329
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-124897.77
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.012
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2690
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.25
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3121
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,600
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,146
$AH0_10V,97.5
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.674221
$PRESSURE_SLOPE,0.0001164274
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043607452
$SEABIRD_T_H,0.00062843185
$SEABIRD_T_I,2.3948436e-05
$SEABIRD_T_J,2.5418763e-06
$SEABIRD_C_G,-9.9654589
$SEABIRD_C_H,1.1018275
$SEABIRD_C_I,-0.0017437373
$SEABIRD_C_J,0.00021077196
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,100512,041100,1935.971,12004.958,37,0.8,37,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-72.0
$GPS2,100512,041929,1936.098,12004.871,41,0.9,42,-2.6
$SPEED_LIMITS,0.150,0.298
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,24.8,238874,-13.9,-8.684
$D_GRID,4090
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.46,-194.6,0.0,0.0,0,100,0.00,0.00,-81.15,0.000,2,0.000,0.000,135,2696,2675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.46,-194.6,3.5,-3.5,8,146,10.55,2.17,-23.52,0.000,4,0.249,0.043,2642,1262,3926,0,0,0,0,0,0,25.52,26.13,26.52
$GC,190,-0.34,-194.6,27.7,-26.9,16,196,0.17,2.28,0.00,0.000,6,0.163,0.051,2690,2689,3929,0,0,0,0,0,0,25.75,26.01,28.83
$GC,504,-0.34,-194.6,78.0,-13.7,35,509,0.00,1.60,0.00,0.000,4,0.000,0.058,2691,3701,3931,0,0,0,0,0,0,28.83,26.13,28.83
$GC,595,-0.38,-194.6,104.4,-32.5,39,601,0.00,1.52,0.00,0.000,6,0.000,0.033,2691,2669,3931,0,0,0,0,0,0,28.83,26.39,28.83
$GC,908,-0.59,-194.6,103.8,-20.4,55,915,0.20,2.03,0.00,0.000,4,0.086,0.031,2605,1286,3932,0,0,0,0,0,0,26.36,26.36,28.83
$GC,1003,-0.68,-194.6,128.8,-29.2,59,1008,0.00,2.17,0.00,0.000,6,0.000,0.046,2605,2681,3932,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1315,-0.68,-194.6,145.1,-20.4,75,1321,0.00,2.05,0.00,0.000,4,0.000,0.033,2605,1294,3933,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1347,-0.68,-194.6,150.9,-22.9,76,1353,0.00,2.15,0.00,0.000,6,0.000,0.048,2605,2666,3933,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1660,-0.68,-194.6,178.7,-2.3,92,1665,0.00,2.08,0.00,0.000,4,0.000,0.034,2605,1288,3933,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1758,-0.68,-194.6,182.4,-4.5,96,1765,0.00,2.12,0.00,0.000,6,0.000,0.048,2605,2648,3933,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2062,-0.68,-194.6,216.2,-11.2,112,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2648,3931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2365,-0.70,-194.6,229.6,-4.8,127,2370,0.00,2.00,0.00,0.000,4,0.000,0.033,2605,1297,3928,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2408,-0.71,-194.6,232.6,-6.0,129,2414,0.12,2.12,0.00,0.000,6,0.093,0.050,2535,2644,3928,0,0,0,0,0,0,26.39,26.35,28.83
$GC,2732,-0.64,-194.6,274.3,-13.0,145,2738,0.17,2.00,0.00,0.000,4,0.145,0.031,2593,1296,3927,0,0,0,0,0,0,26.27,26.48,28.83
$GC,2770,-0.58,-194.6,276.9,-12.5,146,2776,0.00,2.10,0.00,0.000,6,0.000,0.050,2593,2631,3926,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3075,-0.58,-194.6,309.8,-12.4,162,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2631,3924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3377,-0.58,-194.6,342.0,-8.7,177,3382,0.00,1.98,0.00,0.000,4,0.000,0.034,2592,1303,3922,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3434,-0.58,-194.6,345.1,-7.7,179,3440,0.00,2.10,0.00,0.000,6,0.000,0.051,2592,2635,3922,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3740,-0.59,-194.6,358.7,-3.3,195,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2635,3920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4041,-0.60,-194.6,374.7,-7.2,210,4047,0.00,2.03,0.00,0.000,4,0.000,0.034,2592,1292,3917,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4135,-0.63,-194.6,382.0,-8.6,214,4140,0.00,2.08,0.00,0.000,6,0.000,0.048,2592,2630,3917,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4448,-0.64,-194.6,417.3,-11.0,230,4453,0.00,1.98,0.00,0.000,4,0.000,0.032,2592,1294,3915,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4484,-0.66,-194.6,419.6,-10.6,231,4491,0.00,2.08,0.00,0.000,6,0.000,0.047,2592,2622,3915,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4791,-0.68,-194.6,446.0,-7.4,247,4796,0.00,2.00,0.00,0.000,4,0.000,0.032,2592,1289,3912,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4868,-0.70,-194.6,450.6,-7.4,250,4875,0.00,2.05,0.00,0.000,6,0.000,0.046,2595,2604,3912,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5174,-0.72,-194.6,476.2,-8.7,266,5179,0.00,1.95,0.00,0.000,4,0.000,0.032,2592,1286,3910,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5207,-0.75,-194.6,478.2,-8.8,267,5213,0.10,2.05,0.00,0.000,6,0.113,0.046,2535,2599,3910,0,0,0,0,0,0,26.34,26.36,28.83
$GC,5521,-0.70,-194.6,514.9,-9.8,283,5527,0.12,1.75,0.00,0.000,4,0.150,0.057,2577,3700,3908,0,0,0,0,0,0,26.41,26.29,28.83
$GC,5610,-0.70,-194.6,519.7,-5.5,287,5615,0.00,1.62,0.00,0.000,6,0.000,0.034,2577,2598,3908,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5928,-0.70,-194.6,537.4,-6.4,303,5933,0.00,1.90,0.00,0.000,4,0.000,0.032,2577,1294,3906,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5984,-0.70,-194.6,540.3,-6.7,305,5991,0.00,2.03,0.00,0.000,6,0.000,0.047,2577,2595,3906,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6290,-0.70,-194.6,563.2,-7.2,321,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2594,3904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6592,-0.70,-194.6,589.2,-9.6,336,6597,0.00,1.92,0.00,0.000,4,0.000,0.033,2577,1295,3902,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6628,-0.70,-194.6,591.7,-9.9,337,6635,0.00,2.05,0.00,0.000,6,0.000,0.047,2577,2600,3902,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6955,-0.70,-194.6,629.2,-11.3,350,6961,0.00,1.95,0.00,0.000,4,0.000,0.032,2577,1296,3900,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6982,-0.70,-194.6,629.2,-11.3,350,6989,0.00,2.05,0.00,0.000,6,0.000,0.047,2577,2601,3900,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7290,-0.71,-194.6,660.7,-8.0,361,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2601,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7589,-0.73,-194.6,676.7,-5.0,371,7594,0.00,1.95,0.00,0.000,4,0.000,0.032,2577,1287,3898,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7642,-0.74,-194.6,678.6,-5.3,372,7647,0.00,2.03,0.00,0.000,6,0.000,0.047,2577,2579,3897,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7956,-0.76,-194.6,704.0,-8.7,383,7962,0.00,1.92,0.00,0.000,4,0.000,0.032,2577,1290,3895,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8028,-0.78,-194.6,709.9,-9.0,385,8033,0.00,2.00,0.00,0.000,6,0.000,0.047,2577,2564,3895,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8353,-0.80,-194.6,741.1,-9.1,396,8358,0.12,1.80,0.00,0.000,4,0.093,0.056,2507,3693,3894,0,0,0,0,0,0,26.65,26.21,28.83
$GC,8386,-0.80,-194.6,745.1,-9.5,397,8391,0.12,1.67,0.00,0.000,6,0.151,0.035,2542,2570,3894,0,0,0,0,0,0,26.21,26.54,28.83
$GC,8721,-0.78,-194.6,775.3,-7.9,408,8726,0.00,1.90,0.00,0.000,4,0.000,0.033,2542,1288,3893,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8764,-0.77,-194.6,777.9,-7.8,409,8769,0.00,2.00,0.00,0.000,6,0.000,0.047,2542,2558,3893,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9089,-0.75,-194.6,803.2,-8.2,420,9094,0.00,1.83,0.00,0.000,4,0.000,0.058,2542,3700,3891,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9161,-0.73,-194.6,809.5,-9.2,422,9166,0.00,1.67,0.00,0.000,6,0.000,0.034,2542,2575,3891,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9485,-0.72,-194.6,848.8,-12.7,433,9490,0.00,1.88,0.00,0.000,4,0.000,0.032,2542,1295,3890,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9511,-0.70,-194.6,848.8,-12.7,433,9519,0.12,2.03,0.00,0.000,6,0.156,0.048,2577,2575,3890,0,0,0,0,0,0,26.03,26.25,28.83
$GC,9819,-0.73,-194.6,884.7,-10.1,444,9824,0.00,1.80,0.00,0.000,4,0.000,0.060,2577,3699,3889,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9841,-0.76,-194.6,884.7,-10.1,444,9846,0.00,1.70,0.00,0.000,6,0.000,0.037,2577,2577,3888,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10155,-0.79,-194.6,911.9,-7.1,455,10160,0.00,1.90,0.00,0.000,4,0.000,0.033,2578,1287,3888,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10192,-0.81,-194.6,914.2,-7.0,456,10199,0.12,2.03,0.00,0.000,6,0.093,0.047,2510,2571,3888,0,0,0,0,0,0,26.25,26.23,28.83
$GC,10522,-0.77,-194.6,949.2,-11.0,467,10524,0.15,0.00,0.00,0.000,6,0.147,0.000,2555,2571,3887,0,0,0,0,0,0,26.34,28.83,28.83
$GC,10821,-0.77,-194.6,977.1,-9.7,477,10823,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2571,3886,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10969,begin apogee
$GC,10975,-0.12,0.0,993.0,-10.6,482,11135,0.60,0.00,154.93,1.433,4,0.113,0.000,2757,1938,3121,0,0,0,0,0,0,25.79,28.83,23.46
$STATE,11136,end apogee,CONTROL_FINISHED_OK
$STATE,11137,begin climb
$GC,11138,0.46,194.6,1004.1,0.0,487,11321,0.52,0.00,176.70,1.401,6,0.054,0.000,2966,1938,2327,0,0,0,0,0,0,24.68,28.83,22.92
$GC,11634,0.44,218.1,979.6,8.0,504,11664,0.00,2.38,21.35,1.321,4,0.000,0.051,2966,3354,2230,0,0,0,0,0,0,28.83,25.28,24.17
$GC,11727,0.39,218.1,970.7,9.2,507,11733,0.15,2.22,0.00,0.000,6,0.155,0.033,2929,1955,2227,0,0,0,0,0,0,25.44,25.65,28.83
$GC,12061,0.39,218.1,942.6,9.3,518,12066,0.00,2.22,0.00,0.000,4,0.000,0.044,2930,533,2223,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12087,0.39,218.1,942.6,9.3,518,12095,0.00,2.22,0.00,0.000,6,0.000,0.039,2929,1961,2222,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12395,0.41,218.1,907.5,11.0,529,12400,0.00,2.20,0.00,0.000,4,0.000,0.052,2929,3347,2221,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12446,0.41,218.1,903.5,11.2,530,12452,0.00,2.15,0.00,0.000,6,0.000,0.033,2930,1951,2221,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12760,0.41,218.1,868.0,9.9,541,12762,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1951,2220,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,15422,0.63,384.6,610.4,9.2,628,15429,0.00,2.15,0.00,0.000,6,0.000,0.033,2971,1955,1550,0,0,0,0,0,0,28.83,26.23,28.83
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$STATE,20918,end climb,SURFACE_DEPTH_REACHED
$STATE,20918,begin surface coast
$FINISH,1.0,1.020408
$STATE,20940,end surface coast,CONTROL_FINISHED_OK
$STATE,20940,begin surface
$SM_CCo,20957,50.72,0.060,0,0,458,652.74
$SM_GC,1.87,8.00,1.02,50.72,0.044,0.031,0.060,131,2681,458,-8.28,1.47,652.74,0,0,0,0,0,0,26.08,26.25,26.03
$IRIDIUM_FIX,1927.51,12004.84,090512,222230
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.15
$INTERNAL_PRESSURE,7.28116
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,22.9,23.969
$10V_AH,9.5,10.392
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.525,203.725,630.200,50.725,0.000,0.000,0.000,308.450,0.500,0.000,43.557,3042.842,14675.696,842.195,2669.202,282.845,0.000,2468.257,0.000,2214.499,0.000,0.543,0.000
$DEVICE_MAMPS,249.390,59.670,1432.845,59.670,0.000,0.000,0.000,94.095,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20968.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.168,0.000,0.000,0.000
$MEM,325296
$DATA_FILE_SIZE,33372,931
$CAP_FILE_SIZE,242346,0
$CFSIZE,260165632,240660480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.068, 20.2,1
$GPS,100512,101105,1940.311,12006.457,27,1.0,27,-2.6